diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc index a013f3b73..5beafd726 100644 --- a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc +++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_acq_performance_test.cc @@ -31,6 +31,8 @@ #include "test_flags.h" #include "signal_generator_flags.h" +#include "tracking_true_obs_reader.h" +#include "true_observables_reader.h" #include #include #include @@ -130,6 +132,7 @@ protected: boost::shared_ptr acquisition; std::shared_ptr config; std::shared_ptr config_f; + const double baseband_sampling_freq = static_cast(FLAGS_fs_gen_sps); private: std::string generator_binary; @@ -140,7 +143,6 @@ private: std::string p5; std::string p6; - const double baseband_sampling_freq = static_cast(FLAGS_fs_gen_sps); std::string filename_rinex_obs = FLAGS_filename_rinex_obs; std::string filename_raw_data = FLAGS_filename_raw_data; @@ -281,7 +283,8 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, unsigned int iter // Set the Signal Conditioner config->set_property("SignalConditioner.implementation", "Signal_Conditioner"); config->set_property("DataTypeAdapter.implementation", "Ibyte_To_Complex"); - config->set_property("InputFilter.implementation", "Fir_Filter"); + //config->set_property("InputFilter.implementation", "Fir_Filter"); + config->set_property("InputFilter.implementation", "Pass_Through"); config->set_property("InputFilter.dump", "false"); config->set_property("InputFilter.input_item_type", "gr_complex"); config->set_property("InputFilter.output_item_type", "gr_complex"); @@ -312,6 +315,7 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, unsigned int iter config->set_property("Channels_1C.count", std::to_string(number_of_channels)); config->set_property("Channels.in_acquisition", std::to_string(in_acquisition)); config->set_property("Channel.signal", "1C"); + config->set_property("Channel0.satellite", "1"); // Set Acquisition config->set_property("Acquisition_1C.implementation", implementation); @@ -319,7 +323,7 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, unsigned int iter config->set_property("Acquisition_1C.doppler_max", std::to_string(doppler_max)); config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step)); - config->set_property("Acquisition_1C.threshold", "0.00001"); + config->set_property("Acquisition_1C.threshold", "15.0"); //config->set_property("Acquisition_1C.pfa", "0.0"); config->set_property("Acquisition_1C.use_CFAR_algorithm", "false"); @@ -443,8 +447,7 @@ int AcquisitionPerformanceTest::run_receiver() elapsed_seconds = end - start; std::cout << "Acq_delay_samples: " << gnss_synchro.Acq_delay_samples << std::endl; std::cout << "Acq_doppler_hz: " << gnss_synchro.Acq_doppler_hz << std::endl; - std::cout << "Acq_samplestamp_samples: " << gnss_synchro.Acq_samplestamp_samples << std::endl - << std::endl; + std::cout << "Acq_samplestamp_samples: " << gnss_synchro.Acq_samplestamp_samples << std::endl; } //std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl; @@ -484,6 +487,8 @@ int AcquisitionPerformanceTest::run_receiver2() TEST_F(AcquisitionPerformanceTest, PdvsCn0) { init(); + tracking_true_obs_reader true_trk_data; + //true_observables_reader true_obs_data; for (std::vector::const_iterator it = cn0_.cbegin(); it != cn0_.cend(); ++it) { // Set parameter to sweep @@ -491,6 +496,8 @@ TEST_F(AcquisitionPerformanceTest, PdvsCn0) // Do N_iterations of the experiment for (unsigned iter = 0; iter < N_iterations; iter++) { + std::string basename = std::string("./acquisition_") + std::to_string(*it) + "_" + std::to_string(iter) + "_" + gnss_synchro.System + "_1C"; + // Configure the signal generator configure_generator(*it); @@ -500,18 +507,23 @@ TEST_F(AcquisitionPerformanceTest, PdvsCn0) // Configure the receiver configure_receiver(*it, iter); + // remove old files + FILE* fp2; + std::string remove_old_files = std::string("/bin/rm ") + basename + "*.mat"; + fp2 = popen(&remove_old_files[0], "r"); + pclose(fp2); + // Run it run_receiver2(); // Read and store reference data and results - std::string basename = std::string("./acquisition_") + std::to_string(*it) + "_" + std::to_string(iter) + "_" + gnss_synchro.System + "_1C"; std::cout << basename << std::endl; - //count executions + // count executions FILE* fp; std::string argum2 = std::string("/bin/ls ") + basename + "* | wc -l"; char buffer[1024]; fp = popen(&argum2[0], "r"); - int num_executions = 1; + int num_executions = 0; if (fp == NULL) { std::cout << "Failed to run command: " << argum2 << std::endl; @@ -527,20 +539,108 @@ TEST_F(AcquisitionPerformanceTest, PdvsCn0) for (int ch = 0; ch < config->property("Channels_1C.count", 0); ch++) { + arma::vec meas_timestamp_s = arma::zeros(num_executions, 1); + arma::vec meas_doppler = arma::zeros(num_executions, 1); + arma::vec positive_acq = arma::zeros(num_executions, 1); + arma::vec meas_acq_delay_chips = arma::zeros(num_executions, 1); + std::cout << "Num executions: " + << num_executions << std::endl; for (int execution = 1; execution <= num_executions; execution++) { - acquisition_dump_reader acq_dump(basename, 1, config->property("Acquisition_1C.doppler_max", 0), config->property("Acquisition_1C.doppler_step", 0), config->property("GNSS-SDR.internal_fs_sps", 0) * 0.001, ch, execution); + acquisition_dump_reader acq_dump(basename, 1, config->property("Acquisition_1C.doppler_max", 0), config->property("Acquisition_1C.doppler_step", 0), config->property("GNSS-SDR.internal_fs_sps", 0) * GPS_L1_CA_CODE_PERIOD, ch, execution); acq_dump.read_binary_acq(); - std::cout << "Doppler: " << acq_dump.acq_doppler_hz << std::endl; - std::cout << "Execution: " << execution << std::endl; + //std::cout << "Doppler: " << acq_dump.acq_doppler_hz << std::endl; + //std::cout << "Execution: " << execution << std::endl; + //std::cout << "Sample counter [s]: " << acq_dump.sample_counter / baseband_sampling_freq << std::endl; + if (acq_dump.positive_acq) + { + //std::cout << "Meas acq_delay_samples: " << acq_dump.acq_delay_samples << " chips: " << acq_dump.acq_delay_samples / (baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD / GPS_L1_CA_CODE_LENGTH_CHIPS) << std::endl; + meas_timestamp_s(execution - 1) = acq_dump.sample_counter / baseband_sampling_freq; + meas_doppler(execution - 1) = acq_dump.acq_doppler_hz; + meas_acq_delay_chips(execution - 1) = acq_dump.acq_delay_samples / (baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD / GPS_L1_CA_CODE_LENGTH_CHIPS); + positive_acq(execution - 1) = acq_dump.positive_acq; + } + else + { + //std::cout << "Failed acquisition." << std::endl; + meas_timestamp_s(execution - 1) = arma::datum::inf; + meas_doppler(execution - 1) = arma::datum::inf; + meas_acq_delay_chips(execution - 1) = arma::datum::inf; + positive_acq(execution - 1) = acq_dump.positive_acq; + } } + + std::string true_trk_file = std::string("./gps_l1_ca_obs_prn"); + true_trk_file.append(std::to_string(1)); + true_trk_file.append(".dat"); + true_trk_data.close_obs_file(); + true_trk_data.open_obs_file(true_trk_file); + + + // load the true values + long int n_true_epochs = true_trk_data.num_epochs(); + + arma::vec true_timestamp_s = arma::zeros(n_true_epochs, 1); + arma::vec true_acc_carrier_phase_cycles = arma::zeros(n_true_epochs, 1); + arma::vec true_Doppler_Hz = arma::zeros(n_true_epochs, 1); + arma::vec true_prn_delay_chips = arma::zeros(n_true_epochs, 1); + arma::vec true_tow_s = arma::zeros(n_true_epochs, 1); + + long int epoch_counter = 0; + while (true_trk_data.read_binary_obs()) + { + true_timestamp_s(epoch_counter) = true_trk_data.signal_timestamp_s; + true_acc_carrier_phase_cycles(epoch_counter) = true_trk_data.acc_carrier_phase_cycles; + true_Doppler_Hz(epoch_counter) = true_trk_data.doppler_l1_hz; + true_prn_delay_chips(epoch_counter) = GPS_L1_CA_CODE_LENGTH_CHIPS - true_trk_data.prn_delay_chips; + true_tow_s(epoch_counter) = true_trk_data.tow; + epoch_counter++; + //std::cout << "True PRN_Delay chips = " << GPS_L1_CA_CODE_LENGTH_CHIPS - true_trk_data.prn_delay_chips << " at " << true_trk_data.signal_timestamp_s << std::endl; + } + + arma::vec true_interpolated_doppler = arma::zeros(num_executions, 1); + arma::vec true_interpolated_prn_delay_chips = arma::zeros(num_executions, 1); + interp1(true_timestamp_s, true_Doppler_Hz, meas_timestamp_s, true_interpolated_doppler); + interp1(true_timestamp_s, true_prn_delay_chips, meas_timestamp_s, true_interpolated_prn_delay_chips); + + arma::vec doppler_estimation_error = true_interpolated_doppler - meas_doppler; + std::cout << "Doppler estimation error [Hz]: "; + for (int i = 0; i < num_executions - 1; i++) + { + std::cout << doppler_estimation_error(i) << " "; + } + std::cout << std::endl; + arma::vec delay_estimation_error = true_interpolated_prn_delay_chips - meas_acq_delay_chips; + std::cout << "Delay estimation error [chips]: "; + for (int i = 0; i < num_executions - 1; i++) + { + std::cout << delay_estimation_error(i) << " "; + } + std::cout << std::endl; + + double detected = arma::accu(positive_acq); + std::cout << "Probability of detection for channel=" << ch << ", CN0=" << *it << " dBHz" + << ": " << (num_executions > 0 ? (detected / num_executions) : 0.0) << std::endl; + + arma::vec correct_acq = arma::zeros(num_executions, 1); + double correctly_detected = 0.0; + for (int i = 0; i < num_executions - 1; i++) + + { + if (abs(delay_estimation_error(i)) < 0.5) + { + correctly_detected = correctly_detected + 1.0; + } + } + std::cout << "Probability of correct detection for channel=" << ch << ", CN0=" << *it << " dBHz" + << ": " << (num_executions > 0 ? (correctly_detected / num_executions) : 0.0) << std::endl; + true_trk_data.restart(); } } + + // Compute results } - - // Compute results } - //TEST_F(AcquisitionPerformanceTest, ValidationOfResults) //{ // std::chrono::time_point start, end;